#ifndef __ENCODER_H
#define __ENCODER_H

#include "stm32f1xx_hal.h"

typedef struct {
    TIM_HandleTypeDef *htim_enc;
    int32_t count;
    int32_t last_count;
    float speed;                /* counts per second */
    float speed_filtered;       /* low-pass filtered */
} Encoder;

void Encoder_Init(Encoder *enc, TIM_HandleTypeDef *htim);
void Encoder_Update(Encoder *enc, float dt);
int32_t Encoder_GetCount(Encoder *enc);
float Encoder_GetSpeed(Encoder *enc);
void Encoder_Reset(Encoder *enc);

#endif /* __ENCODER_H */